using System;
using System.Collections.Generic;
using System.Linq;
using System.IO;
using Autodesk.Navisworks.Api;

namespace NavisworksTransport
{
    /// <summary>
    /// 路径规划管理器
    /// 负责路径规划的核心业务逻辑
    /// </summary>
    public class PathPlanningManager
    {
        private CategoryAttributeManager _categoryManager;
        private VisibilityManager _visibilityManager;
        private CoordinateConverter _coordinateConverter;
        private NavigationMapWindow _mapWindow;
        private List<ModelItem> _selectedChannels;
        private List<PathRoute> _routes;
        private PathRoute _currentRoute;
        private ChannelBounds _combinedChannelBounds;

        // 新增：3D交互模式相关
        private bool _isPathEditMode = false;
        private PathPointType _currentPointType = PathPointType.WayPoint;
        
        // 静态标志，用于跨实例跟踪3D编辑模式状态
        private static bool _globalIsPathEditMode = false;
        
        // 日志文件路径
        private static string _logFilePath = Path.Combine(Environment.GetFolderPath(Environment.SpecialFolder.Desktop), "NavisworksTransport_Debug.log");
        
        /// <summary>
        /// 是否处于路径编辑模式
        /// </summary>
        public bool IsPathEditMode
        {
            get { return _isPathEditMode || _globalIsPathEditMode; }
        }
        
        /// <summary>
        /// 全局3D编辑模式状态（静态属性）
        /// </summary>
        public static bool GlobalIsPathEditMode
        {
            get { return _globalIsPathEditMode; }
        }

        /// <summary>
        /// 当前设置的路径点类型
        /// </summary>
        public PathPointType CurrentPointType
        {
            get { return _currentPointType; }
            set { _currentPointType = value; }
        }

        // 新增事件
        public event EventHandler<bool> PathEditModeChanged;
        public event EventHandler<PathPoint> PathPointAddedIn3D;

        /// <summary>
        /// 当前选中的通道集合
        /// </summary>
        public List<ModelItem> SelectedChannels
        {
            get { return _selectedChannels; }
        }

        /// <summary>
        /// 所有路径集合
        /// </summary>
        public List<PathRoute> Routes
        {
            get { return _routes; }
        }

        /// <summary>
        /// 当前活动路径
        /// </summary>
        public PathRoute CurrentRoute
        {
            get { return _currentRoute; }
            set 
            { 
                _currentRoute = value;
                if (_mapWindow != null)
                {
                    _mapWindow.CurrentRoute = _currentRoute;
                }
                CurrentRouteChanged?.Invoke(this, _currentRoute);
            }
        }

        /// <summary>
        /// 组合通道边界
        /// </summary>
        public ChannelBounds CombinedChannelBounds
        {
            get { return _combinedChannelBounds; }
        }

        // 事件定义
        public event EventHandler<List<ModelItem>> ChannelsSelected;
        public event EventHandler<PathRoute> CurrentRouteChanged;
        public event EventHandler<PathRoute> RouteGenerated;
        public event EventHandler<string> StatusChanged;
        public event EventHandler<string> ErrorOccurred;

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="categoryManager">类别属性管理器</param>
        /// <param name="visibilityManager">可见性管理器</param>
        public PathPlanningManager(CategoryAttributeManager categoryManager, VisibilityManager visibilityManager)
        {
            _categoryManager = categoryManager ?? throw new ArgumentNullException(nameof(categoryManager));
            _visibilityManager = visibilityManager ?? throw new ArgumentNullException(nameof(visibilityManager));
            
            _selectedChannels = new List<ModelItem>();
            _routes = new List<PathRoute>();
            _currentRoute = new PathRoute("默认路径");
        }

        /// <summary>
        /// 无参构造函数（为向后兼容而保留）
        /// </summary>
        public PathPlanningManager()
        {
            _categoryManager = new CategoryAttributeManager();
            _visibilityManager = new VisibilityManager();
            
            _selectedChannels = new List<ModelItem>();
            _routes = new List<PathRoute>();
            _currentRoute = new PathRoute("默认路径");
        }

        /// <summary>
        /// 选择通道模型
        /// </summary>
        /// <param name="useCurrentSelection">是否使用当前选择的模型</param>
        /// <returns>选择的通道数量</returns>
        public int SelectChannels(bool useCurrentSelection = true)
        {
            try
            {
                _selectedChannels.Clear();

                if (useCurrentSelection)
                {
                    // 使用当前选择的模型
                    var currentSelection = Application.ActiveDocument.CurrentSelection.SelectedItems;
                    if (currentSelection.Any())
                    {
                        _selectedChannels.AddRange(currentSelection);
                        OnStatusChanged($"已选择 {_selectedChannels.Count} 个模型作为通道");
                    }
                    else
                    {
                        OnStatusChanged("未选择任何模型，请先选择通道模型");
                        return 0;
                    }
                }
                else
                {
                    // 通过类别属性筛选通道
                    var channelItems = FilterChannelsByCategory();
                    _selectedChannels.AddRange(channelItems);
                    OnStatusChanged($"通过类别筛选到 {_selectedChannels.Count} 个通道");
                }

                if (_selectedChannels.Any())
                {
                    // 计算组合边界
                    CalculateCombinedBounds();
                    
                    // 触发事件
                    ChannelsSelected?.Invoke(this, _selectedChannels);
                }

                return _selectedChannels.Count;
            }
            catch (Exception ex)
            {
                OnErrorOccurred($"选择通道时发生错误: {ex.Message}");
                return 0;
            }
        }

        /// <summary>
        /// 通过类别筛选通道模型
        /// </summary>
        /// <returns>通道模型集合</returns>
        private List<ModelItem> FilterChannelsByCategory()
        {
            var channelItems = new List<ModelItem>();

            try
            {
                // 获取所有模型项
                var allItems = new List<ModelItem>();
                foreach (ModelItem rootItem in Application.ActiveDocument.Models.RootItems)
                {
                    CollectAllItems(rootItem, allItems);
                }

                foreach (var item in allItems)
                {
                    // 检查是否有物流类别属性
                    if (CategoryAttributeManager.HasLogisticsAttributes(item))
                    {
                        // 通过FilterByLogisticsType方法检查是否为通道类型
                        var singleItemCollection = new ModelItemCollection();
                        singleItemCollection.Add(item);
                        var filteredItems = CategoryAttributeManager.FilterByLogisticsType(singleItemCollection, CategoryAttributeManager.LogisticsElementType.通道);
                        if (filteredItems.Count > 0)
                        {
                            channelItems.Add(item);
                        }
                    }
                }
            }
            catch (Exception ex)
            {
                OnErrorOccurred($"筛选通道类别时发生错误: {ex.Message}");
            }

            return channelItems;
        }

        /// <summary>
        /// 计算组合通道边界
        /// </summary>
        private void CalculateCombinedBounds()
        {
            if (!_selectedChannels.Any())
            {
                _combinedChannelBounds = null;
                return;
            }

            try
            {
                // 获取单位转换系数
                var conversionFactor = GetUnitsToMetersConversionFactor();
                var units = Application.ActiveDocument.Units;
                OnStatusChanged($"检测到文档单位: {units}，转换系数: {conversionFactor}");
                
                // 初始化边界值
                var allBounds = new List<BoundingBox3D>();
                
                foreach (var channel in _selectedChannels)
                {
                    try
                    {
                        var originalBoundingBox = channel.BoundingBox();
                        if (originalBoundingBox != null)
                        {
                            // 转换包围盒到米单位
                            var boundingBoxInMeters = ConvertBoundingBoxToMeters(originalBoundingBox, conversionFactor);
                            allBounds.Add(boundingBoxInMeters);
                        }
                    }
                    catch
                    {
                        // 忽略无法获取边界的模型
                        continue;
                    }
                }

                if (allBounds.Any())
                {
                    // 计算组合边界
                    var minX = allBounds.Min(b => b.Min.X);
                    var minY = allBounds.Min(b => b.Min.Y);
                    var minZ = allBounds.Min(b => b.Min.Z);
                    var maxX = allBounds.Max(b => b.Max.X);
                    var maxY = allBounds.Max(b => b.Max.Y);
                    var maxZ = allBounds.Max(b => b.Max.Z);

                    // 检查边界尺寸是否合理
                    var width = maxX - minX;
                    var length = maxY - minY;
                    var height = maxZ - minZ;
                    var maxDimension = Math.Max(width, Math.Max(length, height));

                    if (maxDimension > 1000) // 超过1公里，可能是坐标系统问题
                    {
                        OnStatusChanged($"警告：通道边界过大（{maxDimension:F2}m），将限制到合理范围");
                        
                        // 计算中心点
                        var centerX = (minX + maxX) / 2;
                        var centerY = (minY + maxY) / 2;
                        var centerZ = (minZ + maxZ) / 2;
                        
                        // 限制到合理范围（100米）
                        var limitedSize = 100;
                        var halfSize = limitedSize / 2;
                        
                        minX = centerX - halfSize;
                        maxX = centerX + halfSize;
                        minY = centerY - halfSize;
                        maxY = centerY + halfSize;
                        minZ = centerZ - halfSize;
                        maxZ = centerZ + halfSize;
                    }

                    var combinedBoundingBox = new BoundingBox3D(
                        new Point3D(minX, minY, minZ),
                        new Point3D(maxX, maxY, maxZ)
                    );

                    _combinedChannelBounds = new ChannelBounds(combinedBoundingBox);
                    
                    OnStatusChanged($"已计算通道边界: {_combinedChannelBounds.MinPoint.X:F2},{_combinedChannelBounds.MinPoint.Y:F2} - {_combinedChannelBounds.MaxPoint.X:F2},{_combinedChannelBounds.MaxPoint.Y:F2}");
                }
            }
            catch (Exception ex)
            {
                OnErrorOccurred($"计算通道边界时发生错误: {ex.Message}");
            }
        }

        /// <summary>
        /// 显示导航地图窗口
        /// </summary>
        /// <param name="mapWidth">地图宽度</param>
        /// <param name="mapHeight">地图高度</param>
        /// <returns>是否成功显示</returns>
        public bool ShowNavigationMap(double mapWidth = 800, double mapHeight = 600)
        {
            try
            {
                if (_mapWindow != null && !_mapWindow.IsDisposed)
                {
                    _mapWindow.BringToFront();
                    return true;
                }

                // 确保有选中的通道
                if (_selectedChannels.Count == 0)
                {
                    var selectionResult = ShowChannelSelectionDialog();
                    if (!selectionResult.Success || selectionResult.SelectedChannels.Count == 0)
                    {
                        OnStatusChanged("未选择通道，无法显示导航地图");
                        return false;
                    }
                    
                    // 更新选中的通道
                    _selectedChannels.Clear();
                    _selectedChannels.AddRange(selectionResult.SelectedChannels);
                    CalculateCombinedBounds();
                }

                // 创建坐标转换器
                if (_coordinateConverter == null)
                {
                    _coordinateConverter = new CoordinateConverter(_combinedChannelBounds, mapWidth, mapHeight);
                }

                // 创建并显示导航地图窗口
                _mapWindow = new NavigationMapWindow(_coordinateConverter, _selectedChannels);
                _mapWindow.CurrentRoute = _currentRoute;
                
                SetupMapWindowEvents();
                
                _mapWindow.Show();
                OnStatusChanged("导航地图已打开");
                
                return true;
            }
            catch (Exception ex)
            {
                OnErrorOccurred($"显示导航地图失败: {ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 显示路径规划界面（MainPlugin兼容方法）
        /// </summary>
        /// <returns>是否成功显示</returns>
        public bool ShowPathPlanningInterface()
        {
            return ShowNavigationMap();
        }

        /// <summary>
        /// 添加路径到管理器（MainPlugin兼容方法）
        /// </summary>
        /// <param name="route">要添加的路径</param>
        /// <returns>是否成功添加</returns>
        public bool AddRoute(PathRoute route)
        {
            try
            {
                if (route == null)
                {
                    OnErrorOccurred("无法添加空路径");
                    return false;
                }

                // 检查是否已存在同名路径
                var existingRoute = _routes.FirstOrDefault(r => r.Name == route.Name);
                if (existingRoute != null)
                {
                    // 如果存在同名路径，生成唯一名称
                    int counter = 1;
                    string originalName = route.Name;
                    while (_routes.Any(r => r.Name == route.Name))
                    {
                        route.Name = $"{originalName}_{counter}";
                        counter++;
                    }
                }

                _routes.Add(route);
                OnStatusChanged($"已添加路径: {route.Name}");

                // 如果当前没有活动路径，设置此路径为活动路径
                if (_currentRoute == null || _currentRoute.Points.Count == 0)
                {
                    CurrentRoute = route;
                }

                // 触发路径生成事件
                RouteGenerated?.Invoke(this, route);

                return true;
            }
            catch (Exception ex)
            {
                OnErrorOccurred($"添加路径失败: {ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 设置地图窗口事件处理器
        /// </summary>
        private void SetupMapWindowEvents()
        {
            if (_mapWindow != null)
            {
                _mapWindow.PathGenerated += MapWindow_PathGenerated;
                _mapWindow.PointSelected += MapWindow_PointSelected;
                _mapWindow.PointAdded += MapWindow_PointAdded;
                _mapWindow.PointRemoved += MapWindow_PointRemoved;
                _mapWindow.FormClosed += MapWindow_FormClosed;
            }
        }

        /// <summary>
        /// 创建新路径
        /// </summary>
        /// <param name="routeName">路径名称</param>
        /// <returns>新创建的路径</returns>
        public PathRoute CreateNewRoute(string routeName = null)
        {
            if (string.IsNullOrEmpty(routeName))
            {
                routeName = $"路径_{_routes.Count + 1}";
            }

            var newRoute = new PathRoute(routeName);
            _routes.Add(newRoute);
            CurrentRoute = newRoute;

            OnStatusChanged($"已创建新路径: {routeName}");
            return newRoute;
        }

        /// <summary>
        /// 删除路径
        /// </summary>
        /// <param name="route">要删除的路径</param>
        /// <returns>是否成功删除</returns>
        public bool DeleteRoute(PathRoute route)
        {
            if (route == null) return false;

            try
            {
                bool removed = _routes.Remove(route);
                if (removed)
                {
                    if (_currentRoute == route)
                    {
                        _currentRoute = _routes.FirstOrDefault() ?? new PathRoute("默认路径");
                        CurrentRouteChanged?.Invoke(this, _currentRoute);
                    }
                    OnStatusChanged($"已删除路径: {route.Name}");
                }
                return removed;
            }
            catch (Exception ex)
            {
                OnErrorOccurred($"删除路径时发生错误: {ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 生成路径
        /// </summary>
        /// <param name="route">要生成的路径，为null时使用当前路径</param>
        /// <returns>是否成功生成</returns>
        public bool GeneratePath(PathRoute route = null)
        {
            route = route ?? _currentRoute;
            if (route == null) return false;

            try
            {
                // 验证路径有效性
                if (!route.IsValid())
                {
                    OnErrorOccurred("路径无效：必须包含至少一个起点和一个终点");
                    return false;
                }

                // 更新路径关联的通道ID
                route.AssociatedChannelIds.Clear();
                foreach (var channel in _selectedChannels)
                {
                    // 这里可以添加更复杂的逻辑来获取模型ID
                    route.AssociatedChannelIds.Add(channel.InstanceGuid.ToString());
                }

                // 计算预估时间（简单实现）
                CalculateEstimatedTime(route);

                OnStatusChanged($"路径生成成功: {route.Name}, 长度: {route.TotalLength:F2}米, 预估时间: {route.EstimatedTime:F1}秒");
                RouteGenerated?.Invoke(this, route);
                return true;
            }
            catch (Exception ex)
            {
                OnErrorOccurred($"生成路径时发生错误: {ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 计算预估时间
        /// </summary>
        /// <param name="route">路径</param>
        private void CalculateEstimatedTime(PathRoute route)
        {
            // 简单的时间估算：假设平均速度1米/秒
            const double averageSpeed = 1.0; // 米/秒
            route.EstimatedTime = route.TotalLength / averageSpeed;
        }

        /// <summary>
        /// 隐藏非通道元素
        /// </summary>
        /// <returns>是否成功</returns>
        public bool HideNonChannelElements()
        {
            try
            {
                if (!_selectedChannels.Any())
                {
                    OnErrorOccurred("请先选择通道模型");
                    return false;
                }

                // 获取所有非通道元素
                var allItems = new List<ModelItem>();
                foreach (ModelItem rootItem in Application.ActiveDocument.Models.RootItems)
                {
                    CollectAllItems(rootItem, allItems);
                }
                var nonChannelItems = allItems.Except(_selectedChannels).ToList();

                // 使用可见性管理器隐藏非通道元素
                var result = _visibilityManager.HideNonLogisticsItemsInstance();
                
                if (result.Success)
                {
                    OnStatusChanged($"已隐藏 {nonChannelItems.Count} 个非通道元素");
                    return true;
                }
                else
                {
                    OnErrorOccurred($"隐藏非通道元素失败: {result.Message}");
                    return false;
                }
            }
            catch (Exception ex)
            {
                OnErrorOccurred($"隐藏非通道元素时发生错误: {ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 显示所有元素
        /// </summary>
        /// <returns>是否成功</returns>
        public bool ShowAllElements()
        {
            try
            {
                var result = _visibilityManager.ShowAllItemsInstance();
                
                if (result.Success)
                {
                    OnStatusChanged("已显示所有元素");
                    return true;
                }
                else
                {
                    OnErrorOccurred($"显示所有元素失败: {result.Message}");
                    return false;
                }
            }
            catch (Exception ex)
            {
                OnErrorOccurred($"显示所有元素时发生错误: {ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 获取路径统计信息
        /// </summary>
        /// <returns>统计信息字符串</returns>
        public string GetStatistics()
        {
            var stats = $"通道数量: {_selectedChannels.Count}\n";
            stats += $"路径数量: {_routes.Count}\n";
            
            if (_currentRoute != null)
            {
                stats += $"当前路径: {_currentRoute.Name}\n";
                stats += $"路径点数: {_currentRoute.Points.Count}\n";
                stats += $"路径长度: {_currentRoute.TotalLength:F2}米\n";
                stats += $"预估时间: {_currentRoute.EstimatedTime:F1}秒\n";
            }

            if (_combinedChannelBounds != null)
            {
                double scaleX = 0, scaleY = 0;
                if (_coordinateConverter != null)
                {
                    _coordinateConverter.GetMapScale(out scaleX, out scaleY);
                }
                stats += $"通道范围: {_combinedChannelBounds.MinPoint.X:F2},{_combinedChannelBounds.MinPoint.Y:F2} - {_combinedChannelBounds.MaxPoint.X:F2},{_combinedChannelBounds.MaxPoint.Y:F2}\n";
                stats += $"地图缩放: {scaleX:F4}, {scaleY:F4}";
            }

            return stats;
        }

        /// <summary>
        /// 清理资源
        /// </summary>
        public void Dispose()
        {
            try
            {
                // 停止3D点击监听
                Stop3DClickListener();
                
                if (_mapWindow != null && !_mapWindow.IsDisposed)
                {
                    _mapWindow.Close();
                    _mapWindow.Dispose();
                }
            }
            catch
            {
                // 忽略清理错误
            }
        }

        #region 事件处理器

        private void MapWindow_PathGenerated(object sender, PathRoute route)
        {
            GeneratePath(route);
        }

        private void MapWindow_PointSelected(object sender, PathPoint point)
        {
            OnStatusChanged($"已选中路径点: {point.Name} ({point.Type})");
        }

        private void MapWindow_PointAdded(object sender, PathPoint point)
        {
            OnStatusChanged($"已添加路径点: {point.Name} ({point.Type})");
        }

        private void MapWindow_PointRemoved(object sender, PathPoint point)
        {
            OnStatusChanged($"已移除路径点: {point.Name} ({point.Type})");
        }

        private void MapWindow_FormClosed(object sender, System.Windows.Forms.FormClosedEventArgs e)
        {
            OnStatusChanged("导航地图窗口已关闭");
        }

        #endregion

        #region 事件触发方法

        private void OnStatusChanged(string status)
        {
            StatusChanged?.Invoke(this, status);
        }

        private void OnErrorOccurred(string error)
        {
            ErrorOccurred?.Invoke(this, error);
        }
        
        /// <summary>
        /// 写入调试日志
        /// </summary>
        /// <param name="message">日志消息</param>
        private static void WriteLog(string message)
        {
            try
            {
                string logEntry = $"[{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}] {message}";
                File.AppendAllText(_logFilePath, logEntry + Environment.NewLine);
            }
            catch
            {
                // 忽略日志写入错误
            }
        }

        #endregion

        /// <summary>
        /// 获取所有通道选择结果
        /// </summary>
        /// <returns>通道选择结果</returns>
        public ChannelSelectionResult GetAllChannelSelectionResults()
        {
            var result = new ChannelSelectionResult();
            
            try
            {
                // 获取所有模型项
                var allItems = new List<ModelItem>();
                foreach (ModelItem rootItem in Application.ActiveDocument.Models.RootItems)
                {
                    CollectAllItems(rootItem, allItems);
                }
                var filteredItems = allItems.Where(item => item.HasGeometry).ToArray();

                result.TotalModelItems = filteredItems.Length;

                // 自动检测通道
                result.AutoDetectedChannels = AutoDetectChannels(filteredItems);

                // 筛选已标记的物流元素
                result.LogisticsMarkedItems = FilterLogisticsMarkedItems(filteredItems);

                // 筛选可通行区域
                result.TraversableAreas = FilterTraversableAreas(result.LogisticsMarkedItems);

                // 筛选通道类型
                result.ChannelItems = FilterChannelItems(result.LogisticsMarkedItems);

                result.Success = true;
                result.Message = $"成功分析 {result.TotalModelItems} 个模型项";
            }
            catch (Exception ex)
            {
                result.Success = false;
                result.Message = $"通道分析失败: {ex.Message}";
                System.Diagnostics.Debug.WriteLine($"获取通道选择结果失败: {ex.Message}");
            }

            return result;
        }

        /// <summary>
        /// 自动检测可能的通道
        /// </summary>
        /// <param name="items">模型项数组</param>
        /// <returns>自动检测的通道集合</returns>
        private ModelItemCollection AutoDetectChannels(ModelItem[] items)
        {
            var channels = new ModelItemCollection();
            
            try
            {
                foreach (var item in items)
                {
                    // 根据几何特征和命名规则自动检测通道
                    if (IsLikelyChannel(item))
                    {
                        channels.Add(item);
                    }
                }
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"自动检测通道失败: {ex.Message}");
            }

            return channels;
        }

        /// <summary>
        /// 判断模型项是否可能是通道
        /// </summary>
        /// <param name="item">模型项</param>
        /// <returns>是否可能是通道</returns>
        private bool IsLikelyChannel(ModelItem item)
        {
            try
            {
                // 检查显示名称中的关键词
                var displayName = item.DisplayName?.ToLower() ?? "";
                var channelKeywords = new[] { "通道", "corridor", "passage", "walkway", "path", "道路", "路径" };
                
                if (channelKeywords.Any(keyword => displayName.Contains(keyword)))
                {
                    return true;
                }

                // 检查几何特征（简化判断）
                if (item.HasGeometry)
                {
                    var boundingBox = item.BoundingBox();
                    if (boundingBox != null)
                    {
                        var width = boundingBox.Max.X - boundingBox.Min.X;
                        var length = boundingBox.Max.Y - boundingBox.Min.Y;
                        var height = boundingBox.Max.Z - boundingBox.Min.Z;

                        // 判断是否为长条形（可能是通道）
                        var lengthToWidthRatio = Math.Max(width, length) / Math.Min(width, length);
                        var isLongNarrow = lengthToWidthRatio > 3.0 && height > 2.0 && height < 5.0;

                        if (isLongNarrow)
                        {
                            return true;
                        }
                    }
                }
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"判断通道特征失败: {ex.Message}");
            }

            return false;
        }

        /// <summary>
        /// 筛选已标记物流属性的模型项
        /// </summary>
        /// <param name="items">模型项数组</param>
        /// <returns>已标记的物流模型项集合</returns>
        private ModelItemCollection FilterLogisticsMarkedItems(ModelItem[] items)
        {
            var markedItems = new ModelItemCollection();
            
            try
            {
                foreach (var item in items)
                {
                    if (CategoryAttributeManager.HasLogisticsAttributes(item))
                    {
                        markedItems.Add(item);
                    }
                }
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"筛选已标记物流项失败: {ex.Message}");
            }

            return markedItems;
        }

        /// <summary>
        /// 筛选可通行区域
        /// </summary>
        /// <param name="items">模型项集合</param>
        /// <returns>可通行区域集合</returns>
        private ModelItemCollection FilterTraversableAreas(ModelItemCollection items)
        {
            var traversableItems = new ModelItemCollection();
            
            try
            {
                traversableItems = CategoryAttributeManager.FilterTraversableItems(items);
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"筛选可通行区域失败: {ex.Message}");
            }

            return traversableItems;
        }

        /// <summary>
        /// 筛选通道类型的模型项
        /// </summary>
        /// <param name="items">模型项集合</param>
        /// <returns>通道类型模型项集合</returns>
        private ModelItemCollection FilterChannelItems(ModelItemCollection items)
        {
            var channelItems = new ModelItemCollection();
            
            try
            {
                channelItems = CategoryAttributeManager.FilterByLogisticsType(items, CategoryAttributeManager.LogisticsElementType.通道);
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"筛选通道类型项失败: {ex.Message}");
            }

            return channelItems;
        }

        /// <summary>
        /// 根据车辆尺寸筛选适用通道
        /// </summary>
        /// <param name="vehicleSize">车辆尺寸</param>
        /// <returns>适用的通道集合</returns>
        public ModelItemCollection FilterChannelsByVehicleSize(string vehicleSize)
        {
            var applicableChannels = new ModelItemCollection();
            
            try
            {
                // 获取所有已标记的物流项
                var allItems = new List<ModelItem>();
                foreach (ModelItem rootItem in Application.ActiveDocument.Models.RootItems)
                {
                    CollectAllItems(rootItem, allItems);
                }
                var filteredItems = allItems.Where(item => item.HasGeometry && CategoryAttributeManager.HasLogisticsAttributes(item)).ToArray();

                var logisticsItems = new ModelItemCollection();
                foreach (var item in allItems)
                {
                    logisticsItems.Add(item);
                }

                // 筛选适用车辆尺寸的通道
                applicableChannels = CategoryAttributeManager.FilterByVehicleSize(logisticsItems, vehicleSize);
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"根据车辆尺寸筛选通道失败: {ex.Message}");
            }

            return applicableChannels;
        }

        /// <summary>
        /// 手动选择通道
        /// </summary>
        /// <returns>手动选择的通道集合</returns>
        public ModelItemCollection GetManuallySelectedChannels()
        {
            var selectedChannels = new ModelItemCollection();
            
            try
            {
                // 获取当前用户选择的模型项
                var currentSelection = Application.ActiveDocument.CurrentSelection.SelectedItems;
                
                foreach (ModelItem item in currentSelection)
                {
                    selectedChannels.Add(item);
                }
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"获取手动选择通道失败: {ex.Message}");
            }

            return selectedChannels;
        }

        /// <summary>
        /// 设置选中的通道为活动通道
        /// </summary>
        /// <param name="channels">通道集合</param>
        public void SetActiveChannels(ModelItemCollection channels)
        {
            try
            {
                _selectedChannels.Clear();
                
                foreach (ModelItem channel in channels)
                {
                    _selectedChannels.Add(channel);
                }

                // 计算通道边界
                CalculateCombinedBounds();

                // 触发通道选择事件
                ChannelsSelected?.Invoke(this, _selectedChannels);

                System.Diagnostics.Debug.WriteLine($"设置了 {_selectedChannels.Count} 个活动通道");
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"设置活动通道失败: {ex.Message}");
            }
        }

        /// <summary>
        /// 高亮显示通道
        /// </summary>
        /// <param name="channels">要高亮的通道集合</param>
        /// <param name="color">高亮颜色</param>
        public void HighlightChannels(ModelItemCollection channels, System.Drawing.Color color)
        {
            try
            {
                if (channels == null || channels.Count == 0) return;

                // 使用临时颜色覆盖高亮通道
                var navisColor = new Color(color.R / 255.0f, color.G / 255.0f, color.B / 255.0f);
                Application.ActiveDocument.Models.OverrideTemporaryColor(channels, navisColor);
                
                // 刷新视图
                Application.ActiveDocument.ActiveView.RequestDelayedRedraw(ViewRedrawRequests.All);
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"高亮通道失败: {ex.Message}");
            }
        }

        /// <summary>
        /// 清除通道高亮
        /// </summary>
        public void ClearChannelHighlight()
        {
            try
            {
                // 重置所有临时材质
                Application.ActiveDocument.Models.ResetAllTemporaryMaterials();
                
                // 刷新视图
                Application.ActiveDocument.ActiveView.RequestDelayedRedraw(ViewRedrawRequests.All);
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"清除通道高亮失败: {ex.Message}");
            }
        }

        /// <summary>
        /// 显示通道选择对话框
        /// </summary>
        /// <returns>用户选择结果</returns>
        public ChannelSelectionDialogResult ShowChannelSelectionDialog()
        {
            var result = new ChannelSelectionDialogResult();
            
            try
            {
                // 获取通道分析结果
                var analysisResult = GetAllChannelSelectionResults();
                
                // 创建通道选择对话框
                var dialog = new ChannelSelectionDialog(analysisResult);
                
                if (dialog.ShowDialog() == System.Windows.Forms.DialogResult.OK)
                {
                    result.Success = true;
                    result.SelectedChannels = dialog.SelectedChannels;
                    result.SelectionMethod = dialog.SelectionMethod;
                    result.VehicleSize = dialog.VehicleSize;
                    
                    // 设置选中的通道为活动通道
                    SetActiveChannels(result.SelectedChannels);
                }
                else
                {
                    result.Success = false;
                    result.Message = "用户取消了通道选择";
                }
            }
            catch (Exception ex)
            {
                result.Success = false;
                result.Message = $"显示通道选择对话框失败: {ex.Message}";
                System.Diagnostics.Debug.WriteLine($"显示通道选择对话框失败: {ex.Message}");
            }

            return result;
        }

        /// <summary>
        /// 获取通道统计信息
        /// </summary>
        /// <returns>通道统计信息</returns>
        public string GetChannelStatistics()
        {
            try
            {
                var analysisResult = GetAllChannelSelectionResults();
                
                var statistics = $"通道分析统计:\n" +
                               $"总模型项: {analysisResult.TotalModelItems}\n" +
                               $"已标记物流项: {analysisResult.LogisticsMarkedItems.Count}\n" +
                               $"可通行区域: {analysisResult.TraversableAreas.Count}\n" +
                               $"通道类型项: {analysisResult.ChannelItems.Count}\n" +
                               $"自动检测通道: {analysisResult.AutoDetectedChannels.Count}\n" +
                               $"当前选中通道: {_selectedChannels.Count}";

                return statistics;
            }
            catch (Exception ex)
            {
                return $"获取统计信息失败: {ex.Message}";
            }
        }

        #region 路径验证与优化

        /// <summary>
        /// 验证路径有效性
        /// </summary>
        /// <param name="route">要验证的路径</param>
        /// <returns>验证结果</returns>
        public PathValidationResult ValidatePath(PathRoute route)
        {
            var result = new PathValidationResult
            {
                RouteId = route?.Id ?? "",
                RouteName = route?.Name ?? ""
            };

            if (route == null)
            {
                result.IsValid = false;
                result.Errors.Add("路径对象为空");
                return result;
            }

            try
            {
                // 基本路径验证
                ValidateBasicPathStructure(route, result);

                // 几何有效性验证
                ValidatePathGeometry(route, result);

                // 通道约束验证
                ValidateChannelConstraints(route, result);

                // 碰撞检测
                ValidatePathCollisions(route, result);

                // 可达性验证
                ValidatePathReachability(route, result);

                // 设置总体验证结果
                result.IsValid = result.Errors.Count == 0;
                
                if (result.IsValid)
                {
                    result.Message = "路径验证通过";
                }
                else
                {
                    result.Message = $"路径验证失败，发现 {result.Errors.Count} 个错误";
                }
            }
            catch (Exception ex)
            {
                result.IsValid = false;
                result.Errors.Add($"验证过程发生异常: {ex.Message}");
                result.Message = "路径验证异常";
                System.Diagnostics.Debug.WriteLine($"路径验证失败: {ex.Message}");
            }

            return result;
        }

        /// <summary>
        /// 验证基本路径结构
        /// </summary>
        /// <param name="route">路径</param>
        /// <param name="result">验证结果</param>
        private void ValidateBasicPathStructure(PathRoute route, PathValidationResult result)
        {
            // 检查路径点数量
            if (route.Points.Count < 2)
            {
                result.Errors.Add("路径必须至少包含2个点（起点和终点）");
                return;
            }

            // 检查起点和终点
            var startPoints = route.Points.Where(p => p.Type == PathPointType.StartPoint).ToList();
            var endPoints = route.Points.Where(p => p.Type == PathPointType.EndPoint).ToList();

            if (startPoints.Count == 0)
            {
                result.Errors.Add("路径缺少起点");
            }
            else if (startPoints.Count > 1)
            {
                result.Warnings.Add("路径包含多个起点，建议只保留一个");
            }

            if (endPoints.Count == 0)
            {
                result.Errors.Add("路径缺少终点");
            }
            else if (endPoints.Count > 1)
            {
                result.Warnings.Add("路径包含多个终点，建议只保留一个");
            }

            // 检查路径点索引连续性
            var sortedPoints = route.GetSortedPoints();
            for (int i = 0; i < sortedPoints.Count; i++)
            {
                if (sortedPoints[i].Index != i)
                {
                    result.Warnings.Add($"路径点索引不连续，位置 {i} 的点索引为 {sortedPoints[i].Index}");
                }
            }
        }

        /// <summary>
        /// 验证路径几何有效性
        /// </summary>
        /// <param name="route">路径</param>
        /// <param name="result">验证结果</param>
        private void ValidatePathGeometry(PathRoute route, PathValidationResult result)
        {
            var points = route.GetSortedPoints();
            
            // 检查重复点
            for (int i = 0; i < points.Count - 1; i++)
            {
                var distance = CalculateDistance3D(points[i].Position, points[i + 1].Position);
                if (distance < 0.01) // 1厘米以内认为重复
                {
                    result.Warnings.Add($"检测到重复点：点 {i} 和点 {i + 1} 距离过近 ({distance:F3}m)");
                }
            }

            // 检查路径段长度
            for (int i = 0; i < points.Count - 1; i++)
            {
                var distance = CalculateDistance3D(points[i].Position, points[i + 1].Position);
                
                if (distance < 0.1) // 10厘米
                {
                    result.Warnings.Add($"路径段 {i}-{i + 1} 过短 ({distance:F3}m)");
                }
                else if (distance > 100.0) // 100米
                {
                    result.Warnings.Add($"路径段 {i}-{i + 1} 过长 ({distance:F3}m)，建议添加中间点");
                }
            }

            // 检查总路径长度
            if (route.TotalLength < 0.5)
            {
                result.Warnings.Add($"路径总长度过短 ({route.TotalLength:F3}m)");
            }
            else if (route.TotalLength > 1000.0)
            {
                result.Warnings.Add($"路径总长度过长 ({route.TotalLength:F3}m)，建议分段处理");
            }
        }

        /// <summary>
        /// 验证通道约束
        /// </summary>
        /// <param name="route">路径</param>
        /// <param name="result">验证结果</param>
        private void ValidateChannelConstraints(PathRoute route, PathValidationResult result)
        {
            if (_selectedChannels == null || _selectedChannels.Count == 0)
            {
                result.Warnings.Add("未选择任何通道，无法验证通道约束");
                return;
            }

            result.Warnings.Add($"当前选中通道数量: {_selectedChannels.Count}");

            var points = route.GetSortedPoints();
            
            foreach (var point in points)
            {
                bool isInChannel = false;
                
                // 检查点是否在选定的通道内
                foreach (ModelItem channel in _selectedChannels)
                {
                    if (IsPointInChannel(point.Position, channel))
                    {
                        isInChannel = true;
                        break;
                    }
                }

                if (!isInChannel)
                {
                    result.Warnings.Add($"路径点 '{point.Name}' 不在选定的通道范围内");
                }
            }
        }

        /// <summary>
        /// 验证路径碰撞
        /// </summary>
        /// <param name="route">路径</param>
        /// <param name="result">验证结果</param>
        private void ValidatePathCollisions(PathRoute route, PathValidationResult result)
        {
            try
            {
                var points = route.GetSortedPoints();
                
                // 获取所有障碍物
                var obstacles = GetObstacles();
                
                if (obstacles.Count == 0)
                {
                    result.Warnings.Add("未找到障碍物数据，无法进行碰撞检测");
                    return;
                }

                // 检查路径点碰撞
                foreach (var point in points)
                {
                    if (IsPointCollidingWithObstacles(point.Position, obstacles))
                    {
                        result.Errors.Add($"路径点 '{point.Name}' 与障碍物发生碰撞");
                    }
                }

                // 检查路径段碰撞
                for (int i = 0; i < points.Count - 1; i++)
                {
                    if (IsPathSegmentCollidingWithObstacles(points[i].Position, points[i + 1].Position, obstacles))
                    {
                        result.Errors.Add($"路径段 {i}-{i + 1} 与障碍物发生碰撞");
                    }
                }
            }
            catch (Exception ex)
            {
                result.Warnings.Add($"碰撞检测失败: {ex.Message}");
            }
        }

        /// <summary>
        /// 验证路径可达性
        /// </summary>
        /// <param name="route">路径</param>
        /// <param name="result">验证结果</param>
        private void ValidatePathReachability(PathRoute route, PathValidationResult result)
        {
            var points = route.GetSortedPoints();
            
            // 检查每个路径段的可达性
            for (int i = 0; i < points.Count - 1; i++)
            {
                var startPoint = points[i].Position;
                var endPoint = points[i + 1].Position;
                
                // 简化的可达性检查：检查高度差
                var heightDifference = Math.Abs(endPoint.Z - startPoint.Z);
                
                if (heightDifference > 5.0) // 5米高度差
                {
                    result.Warnings.Add($"路径段 {i}-{i + 1} 高度差过大 ({heightDifference:F3}m)，可能需要电梯或楼梯");
                }
                
                // 检查坡度
                var horizontalDistance = Math.Sqrt(
                    Math.Pow(endPoint.X - startPoint.X, 2) + 
                    Math.Pow(endPoint.Y - startPoint.Y, 2)
                );
                
                if (horizontalDistance > 0.1)
                {
                    var slope = heightDifference / horizontalDistance;
                    if (slope > 0.2) // 20%坡度
                    {
                        result.Warnings.Add($"路径段 {i}-{i + 1} 坡度过大 ({slope * 100:F1}%)");
                    }
                }
            }
        }

        /// <summary>
        /// 优化路径
        /// </summary>
        /// <param name="route">要优化的路径</param>
        /// <param name="optimizationOptions">优化选项</param>
        /// <returns>优化结果</returns>
        public PathOptimizationResult OptimizePath(PathRoute route, PathOptimizationOptions optimizationOptions = null)
        {
            var result = new PathOptimizationResult
            {
                OriginalRoute = route,
                OptimizedRoute = route.Clone()
            };

            if (optimizationOptions == null)
            {
                optimizationOptions = new PathOptimizationOptions();
            }

            try
            {
                var optimizedRoute = result.OptimizedRoute;
                
                // 记录原始路径信息
                result.OriginalLength = route.TotalLength;
                result.OriginalPointCount = route.Points.Count;

                // 应用各种优化策略
                if (optimizationOptions.RemoveDuplicatePoints)
                {
                    RemoveDuplicatePoints(optimizedRoute, result);
                }

                if (optimizationOptions.SmoothPath)
                {
                    SmoothPath(optimizedRoute, result);
                }

                if (optimizationOptions.OptimizeAngles)
                {
                    OptimizePathAngles(optimizedRoute, result);
                }

                if (optimizationOptions.AdjustToChannels)
                {
                    AdjustPathToChannels(optimizedRoute, result);
                }

                // 重新计算优化后的路径信息
                optimizedRoute.RecalculateLength();
                result.OptimizedLength = optimizedRoute.TotalLength;
                result.OptimizedPointCount = optimizedRoute.Points.Count;

                // 计算优化效果
                result.LengthReduction = result.OriginalLength - result.OptimizedLength;
                result.PointReduction = result.OriginalPointCount - result.OptimizedPointCount;

                result.Success = true;
                result.Message = $"路径优化完成，长度减少 {result.LengthReduction:F3}m，点数减少 {result.PointReduction}";
            }
            catch (Exception ex)
            {
                result.Success = false;
                result.Message = $"路径优化失败: {ex.Message}";
                System.Diagnostics.Debug.WriteLine($"路径优化失败: {ex.Message}");
            }

            return result;
        }

        /// <summary>
        /// 移除重复点
        /// </summary>
        /// <param name="route">路径</param>
        /// <param name="result">优化结果</param>
        private void RemoveDuplicatePoints(PathRoute route, PathOptimizationResult result)
        {
            var points = route.GetSortedPoints();
            var pointsToRemove = new List<PathPoint>();
            
            for (int i = 0; i < points.Count - 1; i++)
            {
                var distance = CalculateDistance3D(points[i].Position, points[i + 1].Position);
                if (distance < 0.01) // 1厘米阈值
                {
                    // 保留索引较小的点，移除后面的点
                    pointsToRemove.Add(points[i + 1]);
                    result.OptimizationSteps.Add($"移除重复点: {points[i + 1].Name}");
                }
            }

            foreach (var point in pointsToRemove)
            {
                route.RemovePoint(point.Id);
            }
        }

        /// <summary>
        /// 平滑路径
        /// </summary>
        /// <param name="route">路径</param>
        /// <param name="result">优化结果</param>
        private void SmoothPath(PathRoute route, PathOptimizationResult result)
        {
            var points = route.GetSortedPoints();
            if (points.Count < 3) return;

            // 应用简单的移动平均平滑
            for (int i = 1; i < points.Count - 1; i++)
            {
                var prevPoint = points[i - 1].Position;
                var currentPoint = points[i].Position;
                var nextPoint = points[i + 1].Position;

                // 计算平滑后的位置
                var smoothedPosition = new Point3D(
                    (prevPoint.X + currentPoint.X + nextPoint.X) / 3.0,
                    (prevPoint.Y + currentPoint.Y + nextPoint.Y) / 3.0,
                    (prevPoint.Z + currentPoint.Z + nextPoint.Z) / 3.0
                );

                // 更新点位置
                points[i].Position = smoothedPosition;
                result.OptimizationSteps.Add($"平滑点: {points[i].Name}");
            }
        }

        /// <summary>
        /// 优化路径角度
        /// </summary>
        /// <param name="route">路径</param>
        /// <param name="result">优化结果</param>
        private void OptimizePathAngles(PathRoute route, PathOptimizationResult result)
        {
            var points = route.GetSortedPoints();
            if (points.Count < 3) return;

            var pointsToRemove = new List<PathPoint>();

            // 检查是否有几乎共线的三个点
            for (int i = 1; i < points.Count - 1; i++)
            {
                var p1 = points[i - 1].Position;
                var p2 = points[i].Position;
                var p3 = points[i + 1].Position;

                // 计算角度
                var angle = CalculateAngle(p1, p2, p3);
                
                // 如果角度接近180度（共线），考虑移除中间点
                if (Math.Abs(angle - Math.PI) < 0.1) // 约5.7度的容差
                {
                    pointsToRemove.Add(points[i]);
                    result.OptimizationSteps.Add($"移除冗余点: {points[i].Name} (角度: {angle * 180 / Math.PI:F1}°)");
                }
            }

            foreach (var point in pointsToRemove)
            {
                route.RemovePoint(point.Id);
            }
        }

        /// <summary>
        /// 调整路径到通道中心
        /// </summary>
        /// <param name="route">路径</param>
        /// <param name="result">优化结果</param>
        private void AdjustPathToChannels(PathRoute route, PathOptimizationResult result)
        {
            if (_selectedChannels.Count == 0) return;

            var points = route.GetSortedPoints();
            
            foreach (var point in points)
            {
                var adjustedPosition = GetOptimalPositionInChannels(point.Position);
                if (adjustedPosition != null)
                {
                    var originalPosition = point.Position;
                    point.Position = adjustedPosition;
                    
                    var distance = CalculateDistance3D(originalPosition, adjustedPosition);
                    result.OptimizationSteps.Add($"调整点到通道中心: {point.Name} (移动距离: {distance:F3}m)");
                }
            }
        }

        #region 辅助方法

        /// <summary>
        /// 递归收集所有ModelItem
        /// </summary>
        /// <param name="item">当前ModelItem</param>
        /// <param name="collection">收集列表</param>
        private void CollectAllItems(ModelItem item, List<ModelItem> collection)
        {
            if (item == null) return;

            collection.Add(item);

            if (item.Children != null && item.Children.Count() > 0)
            {
                foreach (ModelItem child in item.Children)
                {
                    CollectAllItems(child, collection);
                }
            }
        }

        /// <summary>
        /// 计算两个3D点之间的距离
        /// </summary>
        /// <param name="point1">第一个点</param>
        /// <param name="point2">第二个点</param>
        /// <returns>距离</returns>
        private double CalculateDistance3D(Point3D point1, Point3D point2)
        {
            if (point1 == null || point2 == null)
                throw new ArgumentNullException("坐标点不能为空");

            double dx = point2.X - point1.X;
            double dy = point2.Y - point1.Y;
            double dz = point2.Z - point1.Z;
            return Math.Sqrt(dx * dx + dy * dy + dz * dz);
        }

        /// <summary>
        /// 检查点是否在通道内
        /// </summary>
        /// <param name="point">点位置</param>
        /// <param name="channel">通道模型项</param>
        /// <returns>是否在通道内</returns>
        private bool IsPointInChannel(Point3D point, ModelItem channel)
        {
            try
            {
                var boundingBox = channel.BoundingBox();
                if (boundingBox == null) return false;

                return point.X >= boundingBox.Min.X && point.X <= boundingBox.Max.X &&
                       point.Y >= boundingBox.Min.Y && point.Y <= boundingBox.Max.Y &&
                       point.Z >= boundingBox.Min.Z && point.Z <= boundingBox.Max.Z;
            }
            catch
            {
                return false;
            }
        }

        /// <summary>
        /// 获取障碍物集合
        /// </summary>
        /// <returns>障碍物集合</returns>
        private ModelItemCollection GetObstacles()
        {
            var obstacles = new ModelItemCollection();
            
            try
            {
                // 获取所有标记为障碍物的模型项
                var allItems = new List<ModelItem>();
                foreach (ModelItem rootItem in Application.ActiveDocument.Models.RootItems)
                {
                    CollectAllItems(rootItem, allItems);
                }
                var filteredItems = allItems.Where(item => item.HasGeometry && CategoryAttributeManager.HasLogisticsAttributes(item)).ToArray();

                var logisticsItems = new ModelItemCollection();
                foreach (var item in filteredItems)
                {
                    logisticsItems.Add(item);
                }

                obstacles = CategoryAttributeManager.FilterByLogisticsType(
                    logisticsItems, CategoryAttributeManager.LogisticsElementType.障碍物);
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"获取障碍物失败: {ex.Message}");
            }

            return obstacles;
        }

        /// <summary>
        /// 检查点是否与障碍物碰撞
        /// </summary>
        /// <param name="point">点位置</param>
        /// <param name="obstacles">障碍物集合</param>
        /// <returns>是否碰撞</returns>
        private bool IsPointCollidingWithObstacles(Point3D point, ModelItemCollection obstacles)
        {
            foreach (ModelItem obstacle in obstacles)
            {
                if (IsPointInChannel(point, obstacle))
                {
                    return true;
                }
            }
            return false;
        }

        /// <summary>
        /// 检查路径段是否与障碍物碰撞
        /// </summary>
        /// <param name="startPoint">起点</param>
        /// <param name="endPoint">终点</param>
        /// <param name="obstacles">障碍物集合</param>
        /// <returns>是否碰撞</returns>
        private bool IsPathSegmentCollidingWithObstacles(Point3D startPoint, Point3D endPoint, ModelItemCollection obstacles)
        {
            // 简化的线段碰撞检测：在线段上采样多个点进行检查
            const int sampleCount = 10;
            
            for (int i = 0; i <= sampleCount; i++)
            {
                var t = (double)i / sampleCount;
                var samplePoint = new Point3D(
                    startPoint.X + t * (endPoint.X - startPoint.X),
                    startPoint.Y + t * (endPoint.Y - startPoint.Y),
                    startPoint.Z + t * (endPoint.Z - startPoint.Z)
                );

                if (IsPointCollidingWithObstacles(samplePoint, obstacles))
                {
                    return true;
                }
            }

            return false;
        }

        /// <summary>
        /// 计算三点间的角度
        /// </summary>
        /// <param name="p1">第一个点</param>
        /// <param name="p2">中间点</param>
        /// <param name="p3">第三个点</param>
        /// <returns>角度（弧度）</returns>
        private double CalculateAngle(Point3D p1, Point3D p2, Point3D p3)
        {
            var v1 = new Point3D(p1.X - p2.X, p1.Y - p2.Y, p1.Z - p2.Z);
            var v2 = new Point3D(p3.X - p2.X, p3.Y - p2.Y, p3.Z - p2.Z);

            var dotProduct = v1.X * v2.X + v1.Y * v2.Y + v1.Z * v2.Z;
            var length1 = Math.Sqrt(v1.X * v1.X + v1.Y * v1.Y + v1.Z * v1.Z);
            var length2 = Math.Sqrt(v2.X * v2.X + v2.Y * v2.Y + v2.Z * v2.Z);

            if (length1 == 0 || length2 == 0) return 0;

            var cosAngle = dotProduct / (length1 * length2);
            cosAngle = Math.Max(-1, Math.Min(1, cosAngle)); // 限制在[-1,1]范围内

            return Math.Acos(cosAngle);
        }

        /// <summary>
        /// 获取在通道中的最优位置
        /// </summary>
        /// <param name="originalPosition">原始位置</param>
        /// <returns>最优位置</returns>
        private Point3D GetOptimalPositionInChannels(Point3D originalPosition)
        {
            // 简化实现：返回最近通道的中心点
            Point3D bestPosition = originalPosition;
            double minDistance = double.MaxValue;

            foreach (ModelItem channel in _selectedChannels)
            {
                var boundingBox = channel.BoundingBox();
                if (boundingBox != null)
                {
                    var centerPoint = new Point3D(
                        (boundingBox.Min.X + boundingBox.Max.X) / 2,
                        (boundingBox.Min.Y + boundingBox.Max.Y) / 2,
                        originalPosition.Z // 保持原始高度
                    );

                    var distance = CalculateDistance3D(originalPosition, centerPoint);
                    if (distance < minDistance)
                    {
                        minDistance = distance;
                        bestPosition = centerPoint;
                    }
                }
            }

            return bestPosition;
        }

        /// <summary>
        /// 获取Navisworks文档单位并转换为米的系数
        /// </summary>
        /// <returns>转换系数（文档单位转换为米）</returns>
        private double GetUnitsToMetersConversionFactor()
        {
            try
            {
                var units = Application.ActiveDocument.Units;
                
                switch (units)
                {
                    case Units.Millimeters:
                        return 0.001;
                    case Units.Centimeters:
                        return 0.01;
                    case Units.Meters:
                        return 1.0;
                    case Units.Inches:
                        return 0.0254;
                    case Units.Feet:
                        return 0.3048;
                    case Units.Kilometers:
                        return 1000.0;
                    case Units.Micrometers:
                        return 0.000001;
                    case Units.Microinches:
                        return 0.0000000254;
                    case Units.Mils:
                        return 0.0000254;
                    case Units.Yards:
                        return 0.9144;
                    case Units.Miles:
                        return 1609.43;
                    default:
                        return 1.0;
                }
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"获取文档单位失败: {ex.Message}，默认为米");
                return 1.0;
            }
        }

        /// <summary>
        /// 转换包围盒到米单位
        /// </summary>
        /// <param name="boundingBox">原始包围盒</param>
        /// <param name="conversionFactor">转换系数</param>
        /// <returns>转换后的包围盒（米单位）</returns>
        private BoundingBox3D ConvertBoundingBoxToMeters(BoundingBox3D boundingBox, double conversionFactor)
        {
            var minPoint = new Point3D(
                boundingBox.Min.X * conversionFactor,
                boundingBox.Min.Y * conversionFactor,
                boundingBox.Min.Z * conversionFactor
            );
            var maxPoint = new Point3D(
                boundingBox.Max.X * conversionFactor,
                boundingBox.Max.Y * conversionFactor,
                boundingBox.Max.Z * conversionFactor
            );
            return new BoundingBox3D(minPoint, maxPoint);
        }

        #endregion

        #region 新增：3D交互模式相关

        /// <summary>
        /// 高亮显示选中的通道
        /// </summary>
        /// <param name="highlightColor">高亮颜色，为null时使用默认颜色</param>
        /// <returns>是否成功高亮</returns>
        public bool HighlightSelectedChannels(System.Drawing.Color? highlightColor = null)
        {
            try
            {
                if (_selectedChannels.Count == 0)
                {
                    OnErrorOccurred("没有选择任何通道，请先选择通道");
                    return false;
                }

                WriteLog($"[高亮] 开始高亮 {_selectedChannels.Count} 个通道");

                // 使用明显的高亮颜色 - 纯绿色，不透明
                var color = highlightColor ?? System.Drawing.Color.Green;
                
                // 转换为Navisworks颜色
                var navisColor = new Color(color.R / 255.0f, color.G / 255.0f, color.B / 255.0f);
                
                WriteLog($"[高亮] 使用颜色: R={navisColor.R}, G={navisColor.G}, B={navisColor.B}");
                
                // 创建ModelItemCollection
                var itemsToHighlight = new ModelItemCollection();
                foreach (var channel in _selectedChannels)
                {
                    itemsToHighlight.Add(channel);
                    WriteLog($"[高亮] 添加通道: {channel.DisplayName}");
                }

                // 先清除之前的高亮
                Application.ActiveDocument.Models.ResetAllTemporaryMaterials();
                
                // 应用临时颜色覆盖
                Application.ActiveDocument.Models.OverrideTemporaryColor(itemsToHighlight, navisColor);
                
                // 强制刷新视图
                Application.ActiveDocument.ActiveView.RequestDelayedRedraw(ViewRedrawRequests.All);
                
                OnStatusChanged($"已高亮显示 {_selectedChannels.Count} 个通道");
                WriteLog($"[高亮] 高亮完成");
                return true;
            }
            catch (Exception ex)
            {
                WriteLog($"[高亮] 高亮失败: {ex.Message}");
                OnErrorOccurred($"高亮通道失败: {ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 清除通道高亮显示
        /// </summary>
        /// <returns>是否成功清除</returns>
        public bool ClearChannelHighlighting()
        {
            try
            {
                // 重置所有临时材质
                Application.ActiveDocument.Models.ResetAllTemporaryMaterials();
                
                // 刷新视图
                Application.ActiveDocument.ActiveView.RequestDelayedRedraw(ViewRedrawRequests.All);
                
                OnStatusChanged("已清除通道高亮");
                return true;
            }
            catch (Exception ex)
            {
                OnErrorOccurred($"清除通道高亮失败: {ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 进入3D路径编辑模式
        /// </summary>
        /// <returns>是否成功进入编辑模式</returns>
        public bool EnterPathEditMode()
        {
            try
            {
                if (_selectedChannels.Count == 0)
                {
                    OnErrorOccurred("请先选择通道再进入路径编辑模式");
                    return false;
                }

                _isPathEditMode = true;
                _globalIsPathEditMode = true; // 设置全局标志
                
                // 设置活动管理器
                _activePathManager = this;
                
                // 初始化当前路径（如果没有的话）
                if (_currentRoute == null)
                {
                    _currentRoute = CreateNewRoute("路径1");
                }
                
                // 重置点类型为起点（准备接收第一个点）
                _currentPointType = PathPointType.StartPoint;
                
                // 高亮显示通道
                HighlightSelectedChannels();
                
                // 启动3D点击监听
                Start3DClickListener();
                
                // 触发模式变更事件
                PathEditModeChanged?.Invoke(this, true);
                
                OnStatusChanged("已进入3D路径编辑模式，下一个点将设为起点");
                WriteLog($"[模式] 已进入路径编辑模式，当前点类型: {GetPointTypeName(_currentPointType)}");
                return true;
            }
            catch (Exception ex)
            {
                OnErrorOccurred($"进入路径编辑模式失败: {ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 退出3D路径编辑模式
        /// </summary>
        /// <returns>是否成功退出编辑模式</returns>
        public bool ExitPathEditMode()
        {
            try
            {
                // 将最后一个点设为终点（如果有路径点的话）
                if (_currentRoute != null && _currentRoute.Points != null && _currentRoute.Points.Count > 0)
                {
                    var lastPoint = _currentRoute.Points[_currentRoute.Points.Count - 1];
                    if (lastPoint.Type != PathPointType.EndPoint)
                    {
                        // 更新最后一个点为终点
                        var updatedPoint = new PathPoint
                        {
                            Name = lastPoint.Name.Replace("路径点", "终点").Replace("起点", "终点"),
                            Position = lastPoint.Position,
                            Type = PathPointType.EndPoint,
                            CreatedTime = lastPoint.CreatedTime
                        };
                        
                        // 替换最后一个点
                        _currentRoute.Points[_currentRoute.Points.Count - 1] = updatedPoint;
                        
                        // 重新绘制3D标记以更新颜色
                        Clear3DPathMarkers();
                        foreach (var point in _currentRoute.Points)
                        {
                            Draw3DPathPoint(point);
                        }
                        
                        WriteLog($"[模式] 已将最后一个点设为终点: {updatedPoint.Name}");
                    }
                }

                _isPathEditMode = false;
                _globalIsPathEditMode = false; // 清除全局标志
                
                // 停止3D点击监听
                Stop3DClickListener();
                
                // 清除通道高亮
                ClearChannelHighlighting();
                
                // 触发模式变更事件
                PathEditModeChanged?.Invoke(this, false);
                
                OnStatusChanged("已退出3D路径编辑模式，最后一个点已设为终点");
                return true;
            }
            catch (Exception ex)
            {
                OnErrorOccurred($"退出路径编辑模式失败: {ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 在3D视图中添加路径点
        /// </summary>
        /// <param name="worldPoint">3D世界坐标</param>
        /// <param name="pointType">路径点类型，为null时使用当前类型</param>
        /// <returns>添加的路径点，失败时返回null</returns>
        public PathPoint AddPathPointIn3D(Point3D worldPoint, PathPointType? pointType = null)
        {
            try
            {
                if (!_isPathEditMode)
                {
                    OnErrorOccurred("请先进入路径编辑模式");
                    return null;
                }

                var actualPointType = pointType ?? _currentPointType;
                
                // 验证点是否在通道范围内
                if (!IsPointInSelectedChannels(worldPoint))
                {
                    OnErrorOccurred("路径点必须设置在选中的通道内");
                    return null;
                }

                // 创建路径点
                var pointName = GeneratePointName(actualPointType);
                var pathPoint = new PathPoint(worldPoint, pointName, actualPointType);

                // 添加到当前路径
                if (_currentRoute == null)
                {
                    _currentRoute = new PathRoute("默认路径");
                    _routes.Add(_currentRoute);
                }

                _currentRoute.AddPoint(pathPoint);

                // 在3D视图中绘制路径点标记
                Draw3DPathPoint(pathPoint);

                // 触发事件
                PathPointAddedIn3D?.Invoke(this, pathPoint);
                // PointAdded?.Invoke(this, pathPoint); // TODO: 定义PointAdded事件

                OnStatusChanged($"已添加{GetPointTypeName(actualPointType)}: {pointName}");
                return pathPoint;
            }
            catch (Exception ex)
            {
                OnErrorOccurred($"添加3D路径点失败: {ex.Message}");
                return null;
            }
        }

        /// <summary>
        /// 检查点是否在选中的通道内
        /// </summary>
        /// <param name="worldPoint">世界坐标点</param>
        /// <returns>是否在通道内</returns>
        private bool IsPointInSelectedChannels(Point3D worldPoint)
        {
            try
            {
                foreach (var channel in _selectedChannels)
                {
                    var boundingBox = channel.BoundingBox();
                    if (boundingBox != null)
                    {
                        if (worldPoint.X >= boundingBox.Min.X && worldPoint.X <= boundingBox.Max.X &&
                            worldPoint.Y >= boundingBox.Min.Y && worldPoint.Y <= boundingBox.Max.Y &&
                            worldPoint.Z >= boundingBox.Min.Z && worldPoint.Z <= boundingBox.Max.Z)
                        {
                            return true;
                        }
                    }
                }
                return false;
            }
            catch
            {
                return true; // 如果检查失败，允许设置点（宽容处理）
            }
        }

        /// <summary>
        /// 生成路径点名称
        /// </summary>
        /// <param name="pointType">点类型</param>
        /// <returns>生成的名称</returns>
        private string GeneratePointName(PathPointType pointType)
        {
            var currentPoints = _currentRoute?.Points ?? new List<PathPoint>();
            var typeCount = currentPoints.Count(p => p.Type == pointType) + 1;

            switch (pointType)
            {
                case PathPointType.StartPoint:
                    return $"起点{typeCount}";
                case PathPointType.EndPoint:
                    return $"终点{typeCount}";
                case PathPointType.WayPoint:
                    return $"路径点{typeCount}";
                default:
                    return $"点{typeCount}";
            }
        }

        /// <summary>
        /// 在3D视图中绘制路径点标记（简化版本）
        /// </summary>
        /// <param name="pathPoint">路径点</param>
        private void Draw3DPathPoint(PathPoint pathPoint)
        {
            try
            {
                // TODO: 实现Navisworks 2017兼容的3D标记绘制
                // 当前版本使用日志记录代替实际绘制
                var colorName = GetPointColorName(pathPoint.Type);
                WriteLog($"[3D标记] {pathPoint.Name} ({pathPoint.Type}) at ({pathPoint.Position.X:F2}, {pathPoint.Position.Y:F2}, {pathPoint.Position.Z:F2}) - {colorName}");
                
                // 可选：使用临时颜色高亮附近的模型项来间接标记位置
                HighlightNearbyItems(pathPoint.Position, GetPointColor(pathPoint.Type));
            }
            catch (Exception ex)
            {
                WriteLog($"绘制3D路径点失败: {ex.Message}");
            }
        }

        /// <summary>
        /// 获取点类型对应的颜色名称
        /// </summary>
        /// <param name="pointType">路径点类型</param>
        /// <returns>颜色名称</returns>
        private string GetPointColorName(PathPointType pointType)
        {
            switch (pointType)
            {
                case PathPointType.StartPoint:
                    return "绿色";
                case PathPointType.EndPoint:
                    return "红色";
                default:
                    return "蓝色";
            }
        }

        /// <summary>
        /// 获取点类型对应的Navisworks颜色
        /// </summary>
        /// <param name="pointType">路径点类型</param>
        /// <returns>Navisworks颜色</returns>
        private Color GetPointColor(PathPointType pointType)
        {
            switch (pointType)
            {
                case PathPointType.StartPoint:
                    return Color.Green;
                case PathPointType.EndPoint:
                    return Color.Red;
                default:
                    return Color.Blue;
            }
        }

        /// <summary>
        /// 高亮显示路径点附近的模型项
        /// </summary>
        /// <param name="position">位置</param>
        /// <param name="color">高亮颜色</param>
        private void HighlightNearbyItems(Point3D position, Color color)
        {
            try
            {
                // 简化实现：在路径点位置附近查找模型项并高亮
                // 这是一个间接的方式来标记路径点位置
                foreach (var channel in _selectedChannels)
                {
                    var boundingBox = channel.BoundingBox();
                    if (boundingBox != null && IsPointInBoundingBox(position, boundingBox))
                    {
                        var itemCollection = new ModelItemCollection();
                        itemCollection.Add(channel);
                        Application.ActiveDocument.Models.OverrideTemporaryColor(itemCollection, color);
                        break; // 只高亮第一个匹配的通道
                    }
                }
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"高亮附近项目失败: {ex.Message}");
            }
        }

        /// <summary>
        /// 检查点是否在包围盒内
        /// </summary>
        /// <param name="point">点位置</param>
        /// <param name="boundingBox">包围盒</param>
        /// <returns>是否在包围盒内</returns>
        private bool IsPointInBoundingBox(Point3D point, BoundingBox3D boundingBox)
        {
            return point.X >= boundingBox.Min.X && point.X <= boundingBox.Max.X &&
                   point.Y >= boundingBox.Min.Y && point.Y <= boundingBox.Max.Y &&
                   point.Z >= boundingBox.Min.Z && point.Z <= boundingBox.Max.Z;
        }



        /// <summary>
        /// 获取路径点类型的中文名称
        /// </summary>
        /// <param name="pointType">路径点类型</param>
        /// <returns>中文名称</returns>
        private string GetPointTypeName(PathPointType pointType)
        {
            switch (pointType)
            {
                case PathPointType.StartPoint:
                    return "起点";
                case PathPointType.EndPoint:
                    return "终点";
                case PathPointType.WayPoint:
                    return "路径点";
                default:
                    return "路径点";
            }
        }

        /// <summary>
        /// 清除所有3D路径标记
        /// </summary>
        public void Clear3DPathMarkers()
        {
            try
            {
                // 清除所有临时材质和颜色覆盖
                Application.ActiveDocument.Models.ResetAllTemporaryMaterials();
                
                // 刷新视图
                Application.ActiveDocument.ActiveView.RequestDelayedRedraw(ViewRedrawRequests.All);
                
                OnStatusChanged("已清除所有3D路径标记");
            }
            catch (Exception ex)
            {
                OnErrorOccurred($"清除3D路径标记失败: {ex.Message}");
            }
        }

        #endregion

        #region 3D点击监听功能

        // 3D点击监听相关
        private System.Windows.Forms.Timer _clickListenerTimer;
        private static PathPlanningManager _activePathManager; // 静态引用，用于处理全局点击事件

        /// <summary>
        /// 启动3D点击监听
        /// </summary>
        private void Start3DClickListener()
        {
            try
            {
                WriteLog($"[监听] 启动3D点击监听");
                
                // 设置当前实例为活动管理器
                _activePathManager = this;
                
                // 创建定时器来定期检查鼠标点击
                _clickListenerTimer = new System.Windows.Forms.Timer();
                _clickListenerTimer.Interval = 100; // 100ms检查一次
                _clickListenerTimer.Tick += ClickListenerTimer_Tick;
                _clickListenerTimer.Start();
                
                WriteLog($"[监听] 定时器已启动，间隔: {_clickListenerTimer.Interval}ms");
                OnStatusChanged("3D点击监听已启动，请在高亮的通道上点击设置路径点");
            }
            catch (Exception ex)
            {
                WriteLog($"[监听] 启动失败: {ex.Message}");
                OnErrorOccurred($"启动3D点击监听失败: {ex.Message}");
            }
        }

        /// <summary>
        /// 停止3D点击监听
        /// </summary>
        private void Stop3DClickListener()
        {
            try
            {
                if (_clickListenerTimer != null)
                {
                    _clickListenerTimer.Stop();
                    _clickListenerTimer.Dispose();
                    _clickListenerTimer = null;
                }
                
                // 清除活动管理器引用
                if (_activePathManager == this)
                {
                    _activePathManager = null;
                }
                
                OnStatusChanged("3D点击监听已停止");
            }
            catch (Exception ex)
            {
                OnErrorOccurred($"停止3D点击监听失败: {ex.Message}");
            }
        }

        /// <summary>
        /// 定时器事件处理器 - 检查鼠标点击
        /// </summary>
        private void ClickListenerTimer_Tick(object sender, EventArgs e)
        {
            try
            {
                // 检查当前是否有选择的模型项（通过鼠标点击产生）
                var currentSelection = Application.ActiveDocument.CurrentSelection.SelectedItems;
                
                if (currentSelection.Count > 0)
                {
                    WriteLog($"[点击监听] 检测到选择项: {currentSelection.Count} 个");
                    
                    // 获取第一个选中的项目
                    ModelItem selectedItem = currentSelection.First();
                    WriteLog($"[点击监听] 选中项: {selectedItem.DisplayName}");
                    
                    // 检查是否点击在选定的通道内
                    if (IsItemInSelectedChannels(selectedItem))
                    {
                        WriteLog($"[点击监听] 点击在通道内，准备添加路径点");
                        
                        // 获取点击位置（使用选中项的包围盒中心作为近似位置）
                        var boundingBox = selectedItem.BoundingBox();
                        if (boundingBox != null)
                        {
                            var clickPosition = new Point3D(
                                (boundingBox.Min.X + boundingBox.Max.X) / 2,
                                (boundingBox.Min.Y + boundingBox.Max.Y) / 2,
                                (boundingBox.Min.Z + boundingBox.Max.Z) / 2
                            );
                            
                            WriteLog($"[点击监听] 点击位置: ({clickPosition.X:F2}, {clickPosition.Y:F2}, {clickPosition.Z:F2})");
                            
                            // 在添加点之前确定正确的点类型
                            PathPointType pointTypeToUse;
                            if (_currentRoute == null || _currentRoute.Points.Count == 0)
                            {
                                pointTypeToUse = PathPointType.StartPoint;  // 第一个点
                            }
                            else
                            {
                                pointTypeToUse = PathPointType.WayPoint;    // 后续点都是路径点
                            }
                            
                            // 添加路径点
                            var pathPoint = AddPathPointIn3D(clickPosition, pointTypeToUse);
                            
                            if (pathPoint != null)
                            {
                                WriteLog($"[点击监听] 成功添加路径点: {pathPoint.Name}");
                                
                                // 清除当前选择，为下次点击做准备
                                Application.ActiveDocument.CurrentSelection.Clear();
                                
                                // 更新当前点类型状态
                                _currentPointType = pointTypeToUse;
                            }
                            else
                            {
                                WriteLog($"[点击监听] 添加路径点失败");
                            }
                        }
                        else
                        {
                            WriteLog($"[点击监听] 无法获取选中项的包围盒");
                        }
                    }
                    else
                    {
                        WriteLog($"[点击监听] 点击不在通道内，清除选择");
                        // 点击了非通道区域，清除选择并提示
                        Application.ActiveDocument.CurrentSelection.Clear();
                        OnStatusChanged("请点击高亮的通道区域设置路径点");
                    }
                }
            }
            catch (Exception ex)
            {
                WriteLog($"[点击监听] 监听错误: {ex.Message}");
            }
        }

        /// <summary>
        /// 检查选中的项目是否在选定的通道中
        /// </summary>
        /// <param name="item">选中的模型项</param>
        /// <returns>是否在通道中</returns>
        private bool IsItemInSelectedChannels(ModelItem item)
        {
            return _selectedChannels.Contains(item) || IsItemChildOfSelectedChannels(item);
        }

        /// <summary>
        /// 检查项目是否为选定通道的子项
        /// </summary>
        /// <param name="item">要检查的项目</param>
        /// <returns>是否为子项</returns>
        private bool IsItemChildOfSelectedChannels(ModelItem item)
        {
            foreach (var channel in _selectedChannels)
            {
                if (IsChildOf(item, channel))
                {
                    return true;
                }
            }
            return false;
        }

        /// <summary>
        /// 递归检查是否为子项
        /// </summary>
        /// <param name="child">子项</param>
        /// <param name="parent">父项</param>
        /// <returns>是否为子项</returns>
        private bool IsChildOf(ModelItem child, ModelItem parent)
        {
            var currentParent = child.Parent;
            while (currentParent != null)
            {
                if (currentParent == parent)
                {
                    return true;
                }
                currentParent = currentParent.Parent;
            }
            return false;
        }

        /// <summary>
        /// 自动切换点类型
        /// </summary>
        private void AutoSwitchPointType()
        {
            try
            {
                if (_currentRoute == null || _currentRoute.Points == null)
                    return;

                // 根据当前路径点数量自动设置点类型
                int pointCount = _currentRoute.Points.Count;
                
                if (pointCount == 0)
                {
                    // 第一个点设为起点
                    _currentPointType = PathPointType.StartPoint;
                }
                else if (pointCount == 1 && _currentPointType == PathPointType.StartPoint)
                {
                    // 第二个点开始设为路径点
                    _currentPointType = PathPointType.WayPoint;
                    OnStatusChanged("下一个点将设为路径点，退出编辑时最后一个点自动设为终点");
                }
                // 其他情况保持路径点类型
            }
            catch (Exception ex)
            {
                WriteLog($"自动切换点类型失败: {ex.Message}");
            }
        }

        /// <summary>
        /// 静态方法：获取当前活动的路径管理器
        /// </summary>
        /// <returns>当前活动的路径管理器</returns>
        public static PathPlanningManager GetActivePathManager()
        {
            return _activePathManager;
        }

        /// <summary>
        /// 手动设置当前点类型（供外部调用）
        /// </summary>
        /// <param name="pointType">要设置的点类型</param>
        public void SetCurrentPointType(PathPointType pointType)
        {
            _currentPointType = pointType;
            OnStatusChanged($"已切换到{GetPointTypeName(pointType)}模式");
        }

        #endregion

        #endregion
    }
}